Merge branch 'master' of https://code.google.com/p/ardupilot-mega

.gitignore

@@ -1,3 +1,4 @@
 .metadata/
 Tools/ArdupilotMegaPlanner/bin/Release/logs/
 config.mk
+ArduCopter/Debug/

ArduCopter/APM_Config.h

@@ -1,4 +1,6 @@
-// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
 
 // GPS is auto-selected
 

ArduCopter/ArduCopter.pde

@@ -1,5 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#define THISFIRMWARE "ArduCopter V2.0.43 Beta"
 /*
 ArduCopter Version 2.0 Beta
 Authors:	Jason Short

ArduCopter/CMakeLists.txt

@@ -53,7 +53,6 @@ set(${FIRMWARE_NAME}_SKETCHES
 	commands_process.pde
 	control_modes.pde
 	events.pde
-	flight_control.pde
 	flip.pde
 	GCS.pde
 	GCS_Ardupilot.pde

ArduCopter/defines.h

@@ -83,13 +83,6 @@
 #define MAX_SONAR_UNKNOWN	0
 #define MAX_SONAR_XL		1
 
-// Radio channels
-// Note channels are from 0!
-//
-// XXX these should be CH_n defines from RC.h at some point.
-#define CH_10 9    //PB5
-#define CH_11 10   //PE3
-
 #define CH_ROLL CH_1
 #define CH_PITCH CH_2
 #define CH_THROTTLE CH_3

ArduCopter/motors.pde

@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define ARM_DELAY 10	// one secon
+#define ARM_DELAY 10	// one second
-#define DISARM_DELAY 10	// one secon
+#define DISARM_DELAY 10	// one second
 #define LEVEL_DELAY 120 // twelve seconds
 #define AUTO_LEVEL_DELAY 150 // twentyfive seconds
 

ArduCopter/system.pde

@@ -41,7 +41,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "ArduCopter 2.0.43 Beta", main_menu_commands);
+MENU(main_menu, THISFIRMWARE, main_menu_commands);
 
 #endif // CLI_ENABLED
 
@@ -73,8 +73,8 @@ static void init_ardupilot()
 	Serial1.begin(38400, 128, 16);
 	#endif
 
-	Serial.printf_P(PSTR("\n\nInit ACM"
+	Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
-						 "\n\nRAM: %lu\n"),
+						 "\n\nFree RAM: %lu\n"),
 						 freeRAM());
 
 
@@ -305,7 +305,9 @@ static void startup_ground(void)
 		// Warm up and read Gyro offsets
 		// -----------------------------
 		imu.init_gyro(mavlink_delay);
-		report_imu();
+		#if CLI_ENABLED == ENABLED
+			report_imu();
+		#endif
 	#endif
 
 	// reset the leds

ArduPlane/CMakeLists.txt

@@ -11,6 +11,9 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # A
 
 set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
 
+
+message(STATUS "DIR: ${CMAKE_SOURCE_DIR}")
+
 cmake_minimum_required(VERSION 2.8)
 #====================================================================#
 #  Setup Project                                                     #
@@ -50,7 +53,6 @@ set(${FIRMWARE_NAME}_SKETCHES
 	commands_process.pde
 	control_modes.pde
 	events.pde
-	#flight_control.pde
 	#flip.pde
 	#GCS.pde
 	#GCS_Ardupilot.pde
@@ -103,26 +105,26 @@ set(${FIRMWARE_NAME}_LIBS
 	DataFlash
 	AP_Math
 	PID
-    RC_Channel
+        RC_Channel
 	AP_OpticalFlow
 	ModeFilter	
-    memcheck
+        memcheck
 	#AP_PID
 	APM_PI
 	#APO
-    FastSerial
+        FastSerial
-    AP_Common	
+        AP_Common
-    GCS_MAVLink
+        GCS_MAVLink
-    AP_GPS
+        AP_GPS
-    APM_RC
+        APM_RC
-    AP_DCM
+        AP_DCM
-    AP_ADC
+        AP_ADC
-    AP_Compass
+        AP_Compass
-    AP_IMU
+        AP_IMU
-    AP_RangeFinder
+        AP_RangeFinder
-    APM_BMP085
+        APM_BMP085
-	c	
+        c
-	m	
+        m
 )
 SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
 

ArduPlane/system.pde

@@ -41,7 +41,7 @@ static const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "APM trunk", main_menu_commands);
+MENU(main_menu, THISFIRMWARE, main_menu_commands);
 
 #endif // CLI_ENABLED
 

libraries/APM_RC/APM_RC.h

@@ -15,6 +15,8 @@
 #define CH_6 5
 #define CH_7 6
 #define CH_8 7
+#define CH_10 9    //PB5
+#define CH_11 10   //PE3
 
 #include <inttypes.h>
 

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -48,6 +48,7 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch
 	g_rc_function[aux_servo_function[CH_7]] = rc_7;
 	g_rc_function[aux_servo_function[CH_8]] = rc_8;
 
+	//set auxiliary ranges
 	G_RC_AUX(k_flap)->set_range(0,100);
 	G_RC_AUX(k_flap_auto)->set_range(0,100);
 	G_RC_AUX(k_aileron)->set_angle(4500);